Guoli Yang

Chenyv Liu, Wentao Tan, Lei Zhu et al.

Standard vision-language-action (VLA) models rely on fitting statistical data priors, limiting their robust understanding of underlying physical dynamics. Reinforcement learning enhances physical grounding through exploration yet typically relies on external reward signals that remain isolated from the agent's internal states. World action models have emerged as a promising paradigm that integrates imagination and control to enable predictive planning. However, they rely on implicit context modeling, lacking explicit mechanisms for self-improvement. To solve these problems, we propose Self-Correcting VLA (SC-VLA), which achieve self-improvement by intrinsically guiding action refinement through sparse imagination. We first design sparse world imagination by integrating auxiliary predictive heads to forecast current task progress and future trajectory trends, thereby constraining the policy to encode short-term physical evolution. Then we introduce the online action refinement module to reshape progress-dependent dense rewards, adjusting trajectory orientation based on the predicted sparse future states. Evaluations on challenging robot manipulation tasks from simulation benchmarks and real-world settings demonstrate that SC-VLA achieve state-of-the-art performance, yielding the highest task throughput with 16% fewer steps and a 9% higher success rate than the best-performing baselines, alongside a 14% gain in real-world experiments. Code is available at https://github.com/Kisaragi0/SC-VLA.

Mengzhu Wang, Jiao Li, Shanshan Wang et al.

Semi-supervised learning (SSL) has achieved significant progress in medical image segmentation (SSMIS) through effective utilization of limited labeled data. While current SSL methods for medical images predominantly rely on consistency regularization and pseudo-labeling, they often overlook transferable semantic relationships across different clinical domains and imaging modalities. To address this, we propose TransMedSeg, a novel transferable semantic framework for semi-supervised medical image segmentation. Our approach introduces a Transferable Semantic Augmentation (TSA) module, which implicitly enhances feature representations by aligning domain-invariant semantics through cross-domain distribution matching and intra-domain structural preservation. Specifically, TransMedSeg constructs a unified feature space where teacher network features are adaptively augmented towards student network semantics via a lightweight memory module, enabling implicit semantic transformation without explicit data generation. Interestingly, this augmentation is implicitly realized through an expected transferable cross-entropy loss computed over the augmented teacher distribution. An upper bound of the expected loss is theoretically derived and minimized during training, incurring negligible computational overhead. Extensive experiments on medical image datasets demonstrate that TransMedSeg outperforms existing semi-supervised methods, establishing a new direction for transferable representation learning in medical image analysis.